CN111360796B - Robot and positioning method and device thereof - Google Patents
Robot and positioning method and device thereof Download PDFInfo
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- CN111360796B CN111360796B CN201811492071.2A CN201811492071A CN111360796B CN 111360796 B CN111360796 B CN 111360796B CN 201811492071 A CN201811492071 A CN 201811492071A CN 111360796 B CN111360796 B CN 111360796B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
Abstract
A robot positioning method includes: measuring the distance between each UWB base station and the UWB tag through two or more UWB tags arranged at different positions on the robot; filtering the measured invalid distance between the UWB base station and the UWB tag according to the change speed of the distance; and determining the distance between the robot and the UWB base station according to the effective distance obtained after filtering, and positioning the robot according to the distance between the robot and the UWB base station. When the distance measurement of partial UWB tags in two or more than two UWB tags is inaccurate, the inaccurate distance can be filtered according to the change speed of the distance, and the accurate effective distance is obtained, thereby being beneficial to improving the positioning precision of the robot.
Description
Technical Field
The application belongs to the field of robots, and particularly relates to a robot and a positioning method and device thereof.
Background
In an open scenario, wheeled server robots often use uwb (ultra wide) technology for assisted positioning. The principle of UWB-assisted positioning is to mount a UWB base station on a relatively high wall or pillar around the area of motion of the robot, mount a UWB tag at a relatively high position of the robot (usually at the head), and measure the distance between the tag and the base station by communicating between the UWB tag and the UWB base station. If there are three or more UWB base stations and the heights of the base stations and the distances between the base stations are determined, a coordinate system may be established based on the UWB base stations to position the robot and control the movement of the robot based thereon.
However, when the UWB is used for auxiliary positioning, the ranging signal is easily shielded by a wall body and cannot bypass; alternatively, if there is a human body or metal object between the UWB base station and the tag, the UWB signal may be weakened, which may make the measured distance longer than the actual distance, and thus may result in poor accuracy of robot positioning.
Disclosure of Invention
In view of this, embodiments of the present application provide a robot and a positioning method and apparatus thereof, so as to solve the problem in the prior art that when positioning is assisted by UWB, a measured distance is easily longer than an actual distance, which results in low positioning accuracy of the robot.
A first aspect of an embodiment of the present application provides a robot positioning method, including:
measuring the distance between each UWB base station and the UWB tag through two or more UWB tags arranged at different positions on the robot;
filtering the measured invalid distance between the UWB base station and the UWB tag according to the change speed of the distance;
and determining the distance between the robot and the UWB base station according to the effective distance obtained after filtering, and positioning the robot according to the distance between the robot and the UWB base station.
With reference to the first aspect, in a first possible implementation manner of the first aspect, the filtering the measured invalid distance between the UWB base station and the UWB tag according to the change speed of the distance includes:
acquiring the change speed of the distance between the measured UWB base station and the UWB tag;
comparing whether the change speed of the distance is greater than the moving speed of the robot;
and if the change speed of the distance is greater than the moving speed of the robot, filtering the distance corresponding to the change speed of the distance.
With reference to the first aspect, in a second possible implementation manner of the first aspect, the determining a distance between the robot and the UWB base station according to the filtered effective distance includes:
when the effective distances between the same UWB base station and the robot obtained after filtering are more than or equal to two, selecting one with a smaller effective distance, or selecting the average value of two or more effective distances as the distance between the robot and the UWB base station;
and when the effective distance between the same UWB base station and the robot is one after filtering, selecting the effective distance as the distance between the robot and the UWB base station.
With reference to the first aspect, in a third possible implementation manner of the first aspect, the determining a distance between the robot and the UWB base station according to the filtered effective distance includes:
when the effective distances between the same UWB base station and the robot obtained after filtering are more than or equal to two, judging whether the difference value between the effective distances is more than a preset value or not;
and if the difference value between the effective distances is smaller than a preset value, taking the average value of two or more effective distances as the distance between the robot and the UWB base station.
With reference to the third possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, the determining the distance between the robot and the UWB base station according to the filtered effective distance includes:
when the effective distances between the same UWB base station and the robot obtained after filtering are more than or equal to two, judging whether the difference value between the effective distances is more than a preset value or not;
and if the difference value between the effective distances is larger than a preset value, selecting the effective distance with a smaller value as the distance between the robot and the UWB base station.
With reference to the first aspect, in a fifth possible implementation manner of the first aspect, the positioning the robot according to a distance between the robot and a UWB base station includes:
determining the coordinate position of the robot in an internal coordinate system according to the distance between the robot and the UWB base station;
and fusing the calculated coordinate position with the coordinate position calculated by the odometer, and outputting the coordinate position of the robot.
A second aspect of embodiments of the present application provides a robot positioning device, including:
the distance measuring unit is used for measuring the distance between each UWB base station and the UWB tag through two or more UWB tags arranged at different positions on the robot;
a filtering unit for filtering the measured invalid distance between the UWB base station and the UWB tag according to the change speed of the distance;
and the positioning unit is used for determining the distance between the robot and the UWB base station according to the effective distance obtained after filtering, and positioning the robot according to the distance between the robot and the UWB base station.
With reference to the second aspect, in a first possible implementation manner of the second aspect, the filter unit includes:
a change speed acquiring subunit configured to acquire a change speed of the measured distance between the UWB base station and the UWB tag;
the speed comparison subunit is used for comparing whether the change speed of the distance is greater than the moving speed of the robot or not;
and the distance filtering subunit is used for filtering the distance corresponding to the change speed of the distance if the change speed of the distance is greater than the moving speed of the robot.
A third aspect of embodiments of the present application provides a robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the robot positioning method according to any one of the first aspect.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium, which stores a computer program, which when executed by a processor implements the steps of the robot positioning method according to any one of the first aspect.
Compared with the prior art, the embodiment of the application has the advantages that: through set up two or more than two UWB tags in different positions on the robot, for same UWB basic station, the distance of two or more than two UWB basic stations and UWB tags that can gather filters the invalid distance of gathering according to the change speed of the distance of gathering, confirms the robot and the distance of UWB basic station carries out the robot location according to the effective distance after filtering. When the distance measurement of partial UWB tags in two or more than two UWB tags is inaccurate, the inaccurate distance can be filtered according to the change speed of the distance, and the accurate effective distance is obtained, thereby being beneficial to improving the positioning precision of the robot.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic view of a robot positioning scene provided in an embodiment of the present application;
fig. 2 is a schematic flow chart illustrating an implementation of a robot positioning method according to an embodiment of the present disclosure;
FIG. 3 is a schematic flow chart illustrating an implementation of filtering invalid distances according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of a robot positioning device according to an embodiment of the present disclosure;
fig. 5 is a schematic view of a robot provided in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
Fig. 1 is a schematic view of a robot positioning scene provided in an embodiment of the present application. In the scenario of robot positioning, two or more UWB base stations are included. The position of the UWB base station may generally be set at an edge position of the scene, and the height of the UWB base station is generally higher than the height of an object (such as an object of a desk, a chair, etc.) within the scene. An internal coordinate system may be established according to the position of the UWB base station, for example, in fig. 1, according to the internal coordinate systems established by base station No. 1 and base station No. 2, the base station No. 1 is located on the Y-axis of the internal coordinate system, and the base station No. 2 is located on the origin of the internal coordinate system. According to the preset positions, the coordinate positions of the No. 1 base station and the No. 2 base station in the internal coordinate system can be determined, so that the coordinate positions of the robot can be calculated conveniently.
In fig. 1, the robot is provided with two UWB tags, and distances from the two UWB base stations to the UWB tags, such as L11 and L12 in fig. 1, can be measured with respect to the same base station, such as the base station No. 1 in fig. 1, respectively. The UWB tag of robot generally sets up in the inside of robot head region to the mounting height is the same, under the prerequisite of avoiding metal level, LCD screen to shelter from, can set up in the position that is nearer apart from the central axis of robot, and sets up in the different sides of robot axis. Also, a plurality of base stations may be set in fig. 1, for example, fig. 1 includes a base station No. 3.
Fig. 2 is a schematic flow chart of an implementation of the robot positioning method according to the embodiment of the present application, which is detailed as follows:
in step S201, the distance between each UWB base station and the UWB tag is measured by two or more UWB tags disposed at different positions on the robot;
the robot is provided with two or more UWB tags. The UWB tags can be arranged in the inner area of the head of the robot, the height difference of the UWB tags can be smaller than a preset height threshold value, and the positioning calculation of the coordinate position of the robot can be optimized. In order to improve the ranging accuracy of the UWB tag, the UWB tag can be arranged at a position capable of avoiding the shielding of the metal sheet or the liquid crystal screen.
Through UWB label and UWB base station communication, can calculate the distance of UWB label and different UWB base stations. According to the serial number of the UWB base station, the distance between two or more UWB tags of the robot and the same UWB base station can be obtained.
In step S202, filtering the measured invalid distance between the UWB base station and the UWB tag according to the speed of change of the distance;
because the robot is provided with two or more UWB tags, at the same time point, for the same UWB base station, the robot can obtain the distances between the plurality of UWB tags and the UWB base station, and it is necessary to determine the validity of the obtained distances between the plurality of UWB tags and the UWB base station, so that a more accurate distance can be obtained. Specifically, as shown in fig. 3, the method includes:
in step S301, the change speed of the measured distance between the UWB base station and the UWB tag is acquired;
the change speed of the distance between the UWB tag and the UWB base station may be determined by combining the current distance between the UWB tag and the UWB base station with the historical distance between the UWB tag and the UWB base station extracted at a predetermined time interval.
In step S302, comparing whether the change speed of the distance is greater than the robot moving speed;
the read moving speed of the robot can be compared with the changing speed of the distance in real time by reading the current moving speed of the robot.
In general, the moving speed of the robot is generally greater than the changing speed of the distance, and therefore, whether the measured distance between the UWB base station and the UWB tag is valid or not can be determined by the moving speed of the robot.
In a preferred embodiment, the moving speed of the UWB tag on the robot may be calculated according to the current moving speed, moving direction, and previous position and rotation direction of the UWB base station of the robot, and if the difference between the moving speed of the UWB tag and the moving speed of the robot is greater than a predetermined value, the distance between the UWB tag corresponding to the moving speed of the UWB tag and the UWB base station is considered as an invalid distance.
In step S303, if the change speed of the distance is greater than the moving speed of the robot, the distance corresponding to the change speed of the distance is filtered.
The distance between the UWB base station and the UWB tag with the large change speed of the distance is filtered through the moving speed of the robot, and the distance between the UWB base station and the UWB tag can be effectively filtered to be suddenly increased or suddenly reduced or be zero or other invalid distances.
In step S203, the distance between the robot and the UWB base station is determined according to the filtered effective distance, and the robot is positioned according to the distance between the robot and the UWB base station.
And when the effective distance between the same UWB base station and the robot obtained after filtering is one, the effective distance is selected as the distance between the robot and the UWB base station.
And when the effective distances between the same UWB base station and the robot obtained after filtering are more than or equal to two, selecting one with a smaller effective distance, or selecting the average value of two or more effective distances as the distance between the robot and the UWB base station. Because the UWB tags are arranged at the head of the robot, the difference of effective distances measured by the two UWB tags is generally small, and therefore, one of the UWB tags can be arbitrarily selected as the distance between the robot and the UWB base station.
As a preferred embodiment of the present application, when the UWB tag has a small occlusion and a small deviation occurs in the measured distance, the distance having the deviation may not be filtered, so the present application may further process a plurality of effective distances by:
when the effective distances between the same UWB base station and the robot obtained after filtering are more than or equal to two, judging whether the difference value between the effective distances is more than a preset value or not; and if the difference value between the effective distances is smaller than a preset value, taking the average value of two or more effective distances as the distance between the robot and the UWB base station. Alternatively, if the difference between the effective distances is greater than a predetermined value, a smaller value of the effective distance may be selected as the distance between the robot and the UWB base station.
And judging the difference between the effective distances, if the difference is smaller, possibly doping the effective distance with deviation, and directly determining the distance between the robot and the UWB base station by selecting the minimum effective distance. If the difference between the plurality of effective distances is less than the predetermined value, it may be that there is a calculation deviation, and the distance between the robot and the UWB base station may be determined by calculating an average of the plurality of effective distances.
After the distance between the robot and the UWB base station is determined, the coordinate position of the robot in an internal coordinate system can be calculated according to the distance between two or more UWB base stations and the robot and the height of the UWB base stations, the calculated coordinate position is fused with the coordinate position calculated by the odometer, and a more accurate robot coordinate position can be output and can be used for effectively controlling the movement of the robot.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 4 is a schematic structural diagram of a robot positioning device according to an embodiment of the present application, which is detailed as follows:
the robot positioning device includes:
a distance measuring unit 401 for measuring the distance between each UWB base station and the UWB tag by using two or more UWB tags disposed at different positions on the robot;
a filtering unit 402, configured to filter the measured invalid distance between the UWB base station and the UWB tag according to the change speed of the distance;
and a positioning unit 403, configured to determine a distance between the robot and the UWB base station according to the filtered effective distance, and position the robot according to the distance between the robot and the UWB base station.
Preferably, the filter unit comprises:
a change speed acquiring subunit configured to acquire a change speed of the measured distance between the UWB base station and the UWB tag;
the speed comparison subunit is used for comparing whether the change speed of the distance is greater than the moving speed of the robot or not;
and the distance filtering subunit is used for filtering the distance corresponding to the change speed of the distance if the change speed of the distance is greater than the moving speed of the robot.
The robot positioning device shown in fig. 4 corresponds to the robot positioning method shown in fig. 2.
Fig. 5 is a schematic view of a robot provided in an embodiment of the present application. As shown in fig. 5, the robot 5 of this embodiment includes: a processor 50, a memory 51 and a computer program 52, such as a robot positioning program, stored in said memory 51 and executable on said processor 50. The processor 50, when executing the computer program 52, performs the steps in the various robot positioning method embodiments described above. Alternatively, the processor 50 implements the functions of the modules/units in the above-described device embodiments when executing the computer program 52.
Illustratively, the computer program 52 may be partitioned into one or more modules/units, which are stored in the memory 51 and executed by the processor 50 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 52 in the robot 5. For example, the computer program 52 may be divided into:
the distance measuring unit is used for measuring the distance between each UWB base station and the UWB tag through two or more UWB tags arranged at different positions on the robot;
a filtering unit for filtering the measured invalid distance between the UWB base station and the UWB tag according to the change speed of the distance;
and the positioning unit is used for determining the distance between the robot and the UWB base station according to the effective distance obtained after filtering, and positioning the robot according to the distance between the robot and the UWB base station.
The robot may include, but is not limited to, a processor 50, a memory 51. Those skilled in the art will appreciate that fig. 5 is merely an example of a robot 5 and does not constitute a limitation of robot 5 and may include more or fewer components than shown, or some components in combination, or different components, e.g., the robot may also include input output devices, network access devices, buses, etc.
The Processor 50 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 51 may be an internal storage unit of the robot 5, such as a hard disk or a memory of the robot 5. The memory 51 may also be an external storage device of the robot 5, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, provided on the robot 5. Further, the memory 51 may also include both an internal storage unit and an external storage device of the robot 5. The memory 51 is used for storing the computer program and other programs and data required by the robot. The memory 51 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (8)
1. A robot positioning method, characterized by comprising:
measuring the distance between each UWB base station and the UWB tag through two or more UWB tags arranged at different positions on the robot;
filtering the measured invalid distance between the UWB base station and the UWB tag according to the change speed of the distance;
determining the distance between the robot and a UWB base station according to the effective distance obtained after filtering, and positioning the robot according to the distance between the robot and the UWB base station;
the filtering of the measured invalid distance between the UWB base station and the UWB tag according to the speed of change of the distance includes:
acquiring the change speed of the distance between the measured UWB base station and the UWB tag;
comparing whether the change speed of the distance is greater than the moving speed of the robot;
and if the change speed of the distance is greater than the moving speed of the robot, filtering the distance corresponding to the change speed of the distance.
2. The method of claim 1, wherein the step of determining the distance between the robot and the UWB base station according to the filtered effective distance comprises:
when the effective distances between the same UWB base station and the robot obtained after filtering are more than or equal to two, selecting one with a smaller effective distance, or selecting the average value of two or more effective distances as the distance between the robot and the UWB base station;
and when the effective distance between the same UWB base station and the robot is one after filtering, selecting the effective distance as the distance between the robot and the UWB base station.
3. The method of claim 1, wherein the step of determining the distance between the robot and the UWB base station according to the filtered effective distance comprises:
when the effective distances between the same UWB base station and the robot obtained after filtering are more than or equal to two, judging whether the difference value between the effective distances is more than a preset value or not;
and if the difference value between the effective distances is smaller than a preset value, taking the average value of two or more effective distances as the distance between the robot and the UWB base station.
4. The method of claim 1, wherein the step of determining the distance between the robot and the UWB base station according to the filtered effective distance comprises:
when the effective distances between the same UWB base station and the robot obtained after filtering are more than or equal to two, judging whether the difference value between the effective distances is more than a preset value or not;
and if the difference value between the effective distances is larger than a preset value, selecting the effective distance with a smaller value as the distance between the robot and the UWB base station.
5. The robot positioning method according to claim 1, wherein the step of positioning the robot based on the distance of the robot from the UWB base station comprises:
determining the coordinate position of the robot in an internal coordinate system according to the distance between the robot and the UWB base station;
and fusing the calculated coordinate position with the coordinate position calculated by the odometer, and outputting the coordinate position of the robot.
6. A robot positioning device, characterized in that the robot positioning device comprises:
the distance measuring unit is used for measuring the distance between each UWB base station and the UWB tag through two or more UWB tags arranged at different positions on the robot;
a filtering unit for filtering the measured invalid distance between the UWB base station and the UWB tag according to the change speed of the distance;
the positioning unit is used for determining the distance between the robot and the UWB base station according to the effective distance obtained after filtering and positioning the robot according to the distance between the robot and the UWB base station;
the filter unit includes:
a change speed acquiring subunit configured to acquire a change speed of the measured distance between the UWB base station and the UWB tag;
the speed comparison subunit is used for comparing whether the change speed of the distance is greater than the moving speed of the robot or not;
and the distance filtering subunit is used for filtering the distance corresponding to the change speed of the distance if the change speed of the distance is greater than the moving speed of the robot.
7. A robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the steps of the method according to any of the claims 1 to 5 are implemented when the computer program is executed by the processor.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
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| CN113259843B (en) * | 2021-06-08 | 2023-04-14 | Oppo广东移动通信有限公司 | Control method, device and system of controlled equipment, terminal equipment and UWB assembly |
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